9.2 Appendix 2 - Topics and Services

Published Topics

Publishing frequency:

RT - Controller real time loop frequency = 500Hz

RT1k - Controller 1k loop frequency = 1000Hz

RT+ - RT when arm is powered on

T - published only when value changes

T+ - same as T, but with arm is powered on

Name	Package	Message	QoS (default if not specified) Queue size = 1 if not specified	Publishing frequency	Bandwidth kB/s	Description
/target_joint_states	sensor_msgs	JointState.msg	Reliability: RELIABLE Durability: VOLATILE	RT+	160	Target joint names, positions, velocities, and efforts [Nm] Effort is computed as target_torque + (target_friction_current) * k_tau
/joint_states	sensor_msgs	JointState.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT+	160	Target joint names, positions, velocities, and efforts [Nm] actual effort is actual current * k_tau
actual_tcp_state	urinterfaces	TCPState.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT+	66	Actual Cartesian coordinates, and velocities of the tool (TCP).
target_tcp_state	urinterfaces	TCPState.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT	66	Target Cartesian coordinates, and velocities of the tool (TCP).
target_tcp_state	urinterfaces	JointTemperature.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T+		Temperature of each joint in degrees Celsius
tool_temperature	sensor_msgs	Temperature.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T+		Tool temperature in degrees Celsius
control_cycle	urinterfaces	ControlCycle.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	RT	14	Sequential number of real-time controller cycle
execution_time	sensor_msgs	TimeReference.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT	18	Controller real-time thread execution time
safety_status	urinterfaces	SafetyStatus.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Robot controller safety status
robot_mode	urinterfaces	RobotMode.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Robot mode
arm_powered_on	urinterfaces	BoolStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T	–	Indication if power is applied to robot arm
joint_mode	urinterfaces	JointMode.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Joint control modes
program_state	urinterfaces	RuntimeState.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Program state
tcp_offset	geometry_msgs	PoseStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Tool offset relative to tool flange.
payload	geometry_msgs	InertiaStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Active payload mass, center of mass, and inertia parameters
control_box_digital_io	urinterfaces	DigitalIOStateStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL Queue Size: 10	T		Control box digital IO pin. This includes both, the standard digital IO and configurable digital IO.
control_box_analog_io	urinterfaces	AnalogIOStateStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL Queue Size: 10	T		Control box analog IO pin states.
tool_digital_io	urinterfaces	DigitalIOStateStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL Queue Size: 10	T+		Tool connector digital IO states. Note: configurable_io will be empty.
tool_analog_io	urinterfaces	AnalogIOStateStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL Queue Size: 10	T+		Tool connector analog IO pin states. Note: The tool analog output will be unused.
tool_output_mode	urinterfaces	ToolOutputMode.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T+		Tool connector digital output modes
tool_voltage_current	urinterfaces	VoltageCurrentStamped.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT+	17	Tool connector power output voltage and current
robot_voltage_current	urinterfaces	VoltageCurrentStamped.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT	17	Robot controller voltage and current
io_current	urinterfaces	Current.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT		Control box IO current
main_voltage	urinterfaces	Float32Stamped.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT	0.3	Safety Control Board: Main voltage
joint_voltage	urinterfaces	JointVoltage.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT+	~0.3 when stationary 2 when moving fast	Actual joint voltages
tool_accelerometer	geometry_msgs	AccelStamped.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT+	38	Tool x, y and z accelerometer values
actual_speed_fraction	urinterfaces	SpeedSliderFraction.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	RT	14	Effective speed scaling, including both speed slider and trajectory limiting. Note: this is not the same as in RTDE. But it makes it easier for client to scale based on this value. Rune Søe-Knudsen link to ROS driver handling now called speed_scaling
target_speed_fraction	urinterfaces	SpeedSliderFraction.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Target speed fraction now called speed_fraction
tcp_force_scalar	urinterfaces	Float64Stamped.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT	14	TCP force scalar
tcp_force_scalar	urinterfaces	Float64Stamped.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT+	14	Norm of Cartesian linear momentum
tcp_wrench	geometry_msgs	WrenchStamped.msg	Reliability: BEST_EFFORT Durability: VOLATILE	RT+	38	Actual TCP forces and torques with compensation for
program_running	urinterfaces	BoolStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Set when any foreground program is running
teach_button_pressed	urinterfaces	BoolStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Set when any teach input is active
power_button_pressed	urinterfaces	BoolStamped.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T		Set when any power button input is active
/tf	tf2_msgs	TFMessage.msg	Reliability: RELIABLE Durability: VOLATILE	RT	variable	An array of all named world model frames, Axis Groups, and Axes. Each with their respective child→parent kinematic transforms. Each transform connotes attachment in the world model Order is not guaranteed As this topic is published directly to the root of the namespace, each name is prefixed with the robot name
world_model_frames	urinterfaces	WorldModelNames.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T	variable	A timestamped array of all world model frame names. Republishes any time a frame is added or deleted Order is not guaranteed, and may reorder
world_model_waypoints	urinterfaces	WorldModelNames.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T	variable	A timestamped array of all world model waypoint names. Only available when MINOTAUR_WAYPOINTS feature is enabled Republishes any time a waypoint is added or deleted Order is not guaranteed, and may reorder
active_tcp_name	urinterfaces	ActiveTCP.msg	Reliability: RELIABLE Durability: TRANSIENT_LOCAL	T	variable	Name of the latest active TCP

Subscribed topics

Name	Package	Message	QoS
external_wrench	geometry_msgs	WrenchStamped.msg	Reliability: RELIABLE Durability: VOLATILE

Services

Name	Package	Service	QoS	Description
set_speed_fraction	urinterfaces	SetSpeedFraction.srv	default service	Set new speed slider value
set_configurable_digital_output	urinterfaces	SetDigitalOutput.srv	default service	Set standard digital output pin state
set_standard_digital_output	urinterfaces	SetDigitalOutput.srv	default service	Set configurable digital output pin state
set_standard_analog_output	urinterfaces	SetAnalogOutput.srv	default service	Set single analog output domain (current or voltage) and value